Leveling stand bar

Abstract

A leveling apparatus and method for installing and leveling a frame structure of an automated storage and retrieval system. The leveling device has a base member and a support member for supporting an upright member of the frame structure. A guide structure on the support member forms a gap between the guide structure and the upright members supported on the support member, in which a rectangular spacer frame having the same external dimensions as the storage column can be inserted for correctly spacing the upright members.

Description

Technical Field

[0001] This invention relates to an automated storage and retrieval system for storing and retrieving containers, and more specifically, to a leveling support for a frame structure for mounting the automated storage and retrieval system on an uneven surface, a leveling system, and a method for leveling the frame. Background Technology

[0002] Figure 1 A prior art automated storage and retrieval system 1 with a frame structure 100 is disclosed, and Figure 2 , Figure 3 and Figure 4 Three different prior art container handling vehicles 201, 301, and 401 suitable for operation on System 1 are disclosed.

[0003] The frame structure 100 includes upright members 102 and storage volumes comprising storage rows 105 arranged between the upright members 102. In these storage rows 105, storage containers 106 (also referred to as boxes) are stacked one on top of another to form a stack 107. Members 102 can typically be made of metal, such as extruded aluminum profiles.

[0004] The frame structure 100 of the automated storage and retrieval system 1 includes a track system 108 arranged across the top of the frame structure 100, through which multiple container handling vehicles 201, 301, and 401 can operate to lift storage containers 106 from and lower storage containers 106 into storage columns 105, and also transport storage containers 106 above storage columns 105. The track system 108 includes a first set of parallel tracks 110 arranged to guide the container handling vehicles 201, 301, and 401 across the top of the frame structure 100 along a first direction. X Movement; and a second set of parallel tracks 111, arranged perpendicular to the first set of tracks 110, to guide container handling vehicles 201, 301, and 401 in a direction perpendicular to the first direction. X Second direction Y The containers 106 stored in column 105 are accessed by container transport vehicles 201, 301, and 401 through access openings 112 in the track system 108. The container transport vehicles 201, 301, and 401 can move laterally above the storage column 105, that is, parallel to the horizontal... XY Move laterally within the plane of the plane.

[0005] The upright members 102 of the frame structure 100 can be used to guide the containers during the lifting of the storage containers from the column 105 and the lowering of the storage containers into the column. The stack 107 of the containers 106 is typically self-supporting.

[0006] Each prior art container handling vehicle 201, 301, 401 includes a vehicle body 201a, 301a, 401a and a first set of wheels 201b, 301b, 401b and a second set of wheels 201c, 301c, 401c, which enable the container handling vehicles 201, 301, 401 to move along... X direction and Y The direction is lateral movement. In Figure 2 , Figure 3 and Figure 4 In this configuration, two wheels in each group of wheels are fully visible. The first group of wheels 201b, 301b, and 401b are arranged to engage with two adjacent tracks in the first group of tracks 110, and the second group of wheels 201c, 301c, and 401c are arranged to engage with two adjacent tracks in the second group of tracks 111. At least one group of wheels 201b, 201c, 301b, 301c, 401b, and 401c can be raised and lowered, such that the first group of wheels 201b, 301b, and 401b and / or the second group of wheels 201c, 301c, and 401c can engage with the corresponding track group 110, 111 at any given time.

[0007] Each prior art container handling vehicle 201, 301, 401 also includes a lifting device for vertically transporting the storage container 106, for example, lifting the storage container 106 from the storage column 105 and lowering the storage container 106 into the storage column. The lifting device includes one or more clamping / engaging devices adapted to engage the storage container 106, and these one or more clamping / engaging devices can be lowered from the vehicle 201, 301, 401, allowing it to be moved in the first direction. X Second direction Y Orthogonal third direction Z Adjust the position of the clamping / engaging device relative to vehicles 201, 301, and 401. Some parts of the clamping devices on container handling vehicles 301 and 401 are... Figure 3 and Figure 4 It is shown in the figure and indicated by reference numerals 304 and 404. Figure 2 In this case, the clamping device of the container handling device 201 is located inside the vehicle body 201a and is therefore not shown.

[0008] Conventionally, and also for the purposes of this application, Z =1 indicates the topmost layer below tracks 110 and 111 that can be used for storage containers, that is, the layer immediately below track system 108. Z =2 indicates the second layer below track system 108. Z =3 indicates the third layer, and so on. In Figure 1 In the exemplary prior art disclosed herein,Z =8 indicates the bottom layer of the storage container. Similarly, X =1…… n and Y =1…… n Identify the position of each stored column 105 in the horizontal plane. Therefore, as an example, and using... Figure 1 The Cartesian coordinate system shown X , Y , Z It can be said that in Figure 1 The storage container marked 106' occupies X =17、 Y =1, Z=6 storage location. It can be said that container handling vehicles 201, 301, and 401 are in... Z Proceeding through layers of 0, and each storage column 105 can be accessed through its... X coordinates and Y Coordinates are used for identification. Therefore, Figure 1 The storage container shown extending above the orbital system 108 is also referred to as being arranged in the layer at Z=0.

[0009] The storage volume of the frame structure 100 is typically referred to as grid 104, and the possible storage locations within this grid are referred to as storage cells. Each storage column can be identified by its position in the X and Y directions, while each storage cell can be identified by its container number in the X, Y, and Z directions.

[0010] Each prior art container handling vehicle 201, 301, 401 includes a storage compartment or storage space for receiving and loading the storage container 106 during transport across the track system 108. The storage space may include cavities arranged inside the vehicle bodies 201a, 401a, such as… Figure 2 and Figure 4 The contents of the two applications shown in, and described, for example, in WO2015 / 193278A1 and WO2019 / 206487A1, are incorporated herein by reference.

[0011] Figure 3 An alternative configuration of a container handling vehicle 301 with a cantilever structure is shown. Such a vehicle is described in detail, for example, in NO 317366, the contents of which are also incorporated herein by reference.

[0012] Figure 2The cavity container transport vehicle 201 shown occupies an area that can cover a transverse region in the X and Y directions that is approximately equal in size to the storage column 105, as described, for example, in WO2015 / 193278A1, the contents of which are incorporated herein by reference. The term “transverse” as used herein may mean “horizontal”.

[0013] Alternatively, the cavity container transport vehicle 401 may occupy a larger area than the lateral area defined by the storage column 105, such as Figure 1 and Figure 4 As shown, for example, as disclosed in WO2014 / 090684A1 or WO2019 / 206487 A1.

[0014] Track system 108 typically includes tracks with grooves in which the wheels of a vehicle travel. Alternatively, the tracks may include upwardly extending elements, where the wheels of the vehicle include flanges to prevent derailment. These grooves and upwardly extending elements are collectively referred to as guide rails. Each track may include one guide rail, or each track 110, 111 may include two parallel guide rails. In other track systems 108, each track in one direction (e.g., the X direction) may include one guide rail, while each track in another perpendicular direction (e.g., the Y direction) may include two guide rails. Each track 110, 111 may also include two guide rail members fastened together, each guide rail member providing one of the pair of guide rails provided by each track.

[0015] WO2018 / 146304A1 (the contents of which are incorporated herein by reference) illustrates a typical configuration of orbital system 108, which includes X direction and Y The two directions are the track and the parallel guide rail.

[0016] In the frame structure 100, most columns are storage columns 105, meaning that the storage containers 106 store data in columns 105 in the form of stacks 107. Besides the storage columns 105, the frame structure also contains dedicated columns. Figure 1In this context, columns 119 and 120 are dedicated columns used by container handling vehicles 201, 301, and 401 to unload and / or pick up storage containers 106, enabling the transport of storage containers to retrieval stations (not shown) where they can be accessed from outside the frame structure 100, or moved in or out of the frame structure 100. In the art, such locations are commonly referred to as “ports,” and the columns containing the ports may be referred to as “port columns” 119 and 120. Transport to the retrieval station can take place in any direction (i.e., horizontal, inclined, and / or vertical). For example, storage containers 106 can be placed in random or dedicated columns 105 within the frame structure 100, then picked up by any container handling vehicle and transported to port columns 119 and 120 for further transport to the retrieval station. Transport from the port to the retrieval station may require movement along various different directions using means such as delivery vehicles, trolleys, or other transport routes. Note that the term "inclined" refers to the transport of storage container 106 having a general transport orientation in some direction between horizontal and vertical.

[0017] exist Figure 1 In the first port column 119, for example, it can be a dedicated unloading port column, at which container handling vehicles 201, 301, and 401 can unload storage containers 106 to be transported to the storage station or transfer station, and the second port column 120 can be a dedicated pick-up port column, at which container handling vehicles 201, 301, and 401 can pick up storage containers 106 that have been transported from the storage station or transfer station.

[0018] The storage and retrieval station is typically a pick-up station or a stocking station where product items are removed from or positioned into storage containers 106. At the pick-up station or stocking station, storage containers 106 are not typically removed from the automated storage and retrieval system 1; instead, they are returned to the frame structure 100 after storage and retrieval. Ports can also be used to transfer storage containers to another storage facility (e.g., to another frame structure or another automated storage and retrieval system), to a transport vehicle (e.g., a train or truck), or to a production facility.

[0019] Storage containers are typically transported between port lines 119 and 120 and the access station using a transport system that includes a transmitter.

[0020] If port columns 119, 120 and access stations are located at different horizontal heights, the conveying system may include a lifting device with vertical components for vertically transporting storage container 106 between port columns 119, 120 and access stations.

[0021] The transfer system can be arranged to transfer storage container 106 between different frame structures, such as those described in WO2014 / 075937A1, the contents of which are incorporated herein by reference.

[0022] When you need to access the stored Figure 1 When a storage container 106 is in one of the multiple columns 105 disclosed herein, one of the container handling vehicles 201, 301, and 401 is instructed to remove the target storage container 106 from its location and transport it to the unloading port column 119. This operation involves moving the container handling vehicles 201, 301, and 401 to a position above the storage column 105 where the target storage container 106 is located, removing the storage container 106 from the storage column 105 using the lifting devices (not shown) of the container handling vehicles 201, 301, and 401, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are positioned above the target storage container 106, the operation also involves temporarily moving the storage container positioned above it before lifting the target storage container 106 from the storage column 105. This step (sometimes referred to in the art as "digging") can be performed using the same container handling vehicle subsequently used to transport the target storage container to unloading port column 119, or using one or more other cooperating container handling vehicles. Alternatively or additionally, the automated storage and retrieval system 1 may have container handling vehicles 201, 301, 401 specifically for the task of temporarily removing storage container 106 from storage column 105. After the target storage container 106 has been removed from storage column 105, the temporarily removed storage container 106 can be repositioned back into the original storage column 105. However, the removed storage container 106 can alternatively be repositioned to another storage column 105.

[0023] When storage container 106 is to be stored in one of the multiple columns 105, one of the container handling vehicles 201, 301, and 401 is instructed to pick up storage container 106 from pick-up port column 120 and transport it to a position above the storage column 105 in which it will be stored. After removing any storage container 106 located at or above the target position within the stack 107, container handling vehicles 201, 301, and 401 position the storage container 106 in the desired location. The removed storage container 106 can then be lowered back into the storage column 105 or repositioned to another storage column 105.

[0024] In order to monitor and control the automated storage and retrieval system 1, such as monitoring and controlling the position of each storage container 106 within the frame structure 100, the contents of each storage container 106, and the movement of container transport vehicles 201, 301, 401, so that the required storage container 106 can be transported to the required location at the required time without the container transport vehicles 201, 301, 401 colliding with each other, the automated storage and retrieval system 1 includes a control system 500, which is typically computerized and typically includes a database for keeping track of the storage containers 106.

[0025] The frame structure of the automated storage and retrieval system must be installed within strict tolerances. The upright members defining the storage columns (in which the containers are stacked) must be installed with extreme precision to ensure the correct dimensions of the columns. Furthermore, the track system for the automated vehicles must remain level within predetermined limits to enable their normal and reliable operation, which places demands on the flatness of the ground on which the frame structure is installed.

[0026] One measure for installing the frame within the aforementioned tolerances is to level the frame structure using vertically adjustable leveling feet beneath the upright members. The leveling feet must be precisely aligned on the ground where the frame will be installed to ensure the storage columns have the correct dimensions.

[0027] The existing method for installing the frame structure 100 currently involves laying a grid of mutually perpendicular ground tracks, the intersections of which indicate the correct positions of the upright members. At each intersection, a leveling foot of the type described in WO 2017 / 198784A1 is arranged, and each upright member is supported on and by the leveling foot. The upright members are supported on support members that are vertically adjustable relative to the base members. Wedge-shaped members can be inserted between the support members and the base members to lock the support members in place. The leveling foot has a base section with a raised hollow column. A spring is arranged in this hollow column. A movable top member engages the column and is movable vertically against the force of the spring. The top member is slightly larger than the column such that when the spring is compressed, the sidewall of the top member overlaps with the side of the column. The bottom edge of the sidewall of the top member is inclined. A generally U-shaped wedge device is provided, which can be pressed to engage with the base section, such that the U-shaped legs engage each side of the column. The top surface of the legs of the U-shaped device is inclined in the form of a wedge, and the inclined portion of the top surface of the legs corresponds to the inclined portion of the side wall of the movable top member, such that when the top member is under load, the side wall of the top member will be supported on the inclined top surface of the legs of the wedge device.

[0028] Although the wedge-shaped members of the leveling feet in WO 2017 / 198784 A1 can adjust the height of the supporting members to some extent, existing leveling feet and installation methods cannot compensate for deviations exceeding certain limits. This typically requires resurfacing the facility's ground surface before installing the frame structure. Currently, a horizontal deviation of 3 mm or less is generally required over the area occupied by the frame structure.

[0029] The present invention aims to overcome or improve, to a certain extent, the problems associated with the prior art. Summary of the Invention

[0030] According to a first aspect, a leveling support is provided for leveling a frame structure of an automated storage and retrieval system, the leveling support comprising: a base member; a column extending vertically from the base member; a support member movable vertically along the column, the support member having a support surface arranged to support upright members of the frame structure; and the base member being arranged to receive a wedge member insertable between the base member and the support member to set a vertical distance between the support surface and the ground of a facility for mounting the frame structure.

[0031] The base member can receive wedge members of different sizes and slopes. These wedge members can have a variety of different thicknesses in the vertical direction, and / or the inclined surfaces of these wedge members can have a variety of different slopes, so that the desired maximum vertical distance of the support surface from the ground can be selected by selecting a specific wedge member from a number of wedge members with a thickness and / or slope corresponding to the desired maximum distance.

[0032] The leveling feet according to the invention can be used to level the upright members of a frame structure for an automated storage and retrieval system. This frame structure may include a plurality of upright members spaced apart from each other and arranged on the ground. The upright members may be made of a metallic material, for example, in the form of extruded aluminum profiles. The upright members define a plurality of storage columns for stacking storage containers on top of each other.

[0033] The track system can be arranged across the top of the frame structure. The track system can have two sets of tracks arranged perpendicularly to each other to form a grid, with a grid opening essentially above each storage column. The tracks can be attached to the top sections of the uprights. The tracks guide multiple container handling vehicles to travel on the frame structure, as explained in the background section above. The container handling vehicles can run on the tracks to lift and lower storage containers from and into the storage columns, and also transport storage containers above the storage columns. By using multiple leveling feet to support the uprights, i.e., one leveling foot for each upright, the uprights can be accurately leveled to adjust the levelness of the top sections of the uprights, and thus the levelness of the track system.

[0034] The base members of the leveling supports should be placed on the ground where the frame structure will be installed. When the base members are placed on the ground, the columns of the base members extend vertically upwards, away from the ground. Supporting members can be arranged on the columns. For this purpose, the supporting members include profiles that mate with the columns. For example, the supporting members may include holes into which the columns can be inserted, or through which the columns can extend. The supporting members can move / slide vertically along the columns to create different distances from the ground.

[0035] Wedge-shaped members can be inserted between the support members and the base members to adjust the height of the support surface above the ground of the facility. Different heights can be achieved over a wide range by selecting from several different wedge-shaped members. This height range can be determined by the vertical thickness of the wedge-shaped member and the slope of its inclined portion.

[0036] The increased area occupied by the support members improves the stability of the upright support members. Furthermore, the larger area allows support plates to be arranged on the bottom surface of each storage column. These support plates can be supported on the corners of the support members by four leveling feet, which define the four upright members of a storage column. Thus, even if the ground deviation exceeds three millimeters, the storage containers to be stored in the storage column can still be arranged horizontally. The grippers of the container handling vehicle can still engage and move the storage containers.

[0037] Preferably, a plurality of wedge-shaped members of different sizes are provided, having different vertical thicknesses and / or inclined surfaces with different slopes. Depending on the wedge-shaped member inserted into the device, each different wedge-shaped member allows the support members of the leveling leg to be arranged such that their support surfaces can be at different maximum heights within a height range. The height of the vertical column of the base member can accommodate the maximum vertical height of the support member provided by the largest wedge-shaped member among the plurality of wedge-shaped members.

[0038] The supporting member can be a platform with a surface area equal to or greater than the area occupied by the upright members of the frame structure. The platform can have a generally rectangular supporting surface. Optionally, the supporting surface can have rounded corners. The supporting surface can be attached to the frame portion of the supporting member, which can be arranged on the column. To provide sufficient rigidity, a reinforcing structure can be arranged on the underside of the supporting surface. This reinforcing structure can include multiple upright profile members connected to both the frame portion and the supporting surface. The dimensions of the supporting surface and the base member can be substantially the same. The dimensions of the supporting surface can be configured such that the supporting surface can receive the support plate mentioned above. The supporting surface can thus provide a specific section on which the support plate can be supported and through which the load of the stacking of storage containers can be transferred to the base element.

[0039] The height of the column can be arranged such that, when the wedge member is in place, the column extends beyond the columnar extension extending from the support element. The column can extend through the top of the columnar extension extending from the support member, and the end of the column is positioned beyond the top of the columnar extension. The height of the column can be arranged to accommodate the maximum vertical distance achieved by the wedge member and / or different support members. Multiple wedge members can have multiple different thicknesses and / or slopes. The leveling foot can be part of a kit including multiple sets of wedges. To minimize the variety of base members, the base member can be designed with a column that can accommodate all different wedge members.

[0040] When installing a frame structure using multiple leveling feet on the ground, each foot can be leveled individually first, and then the uprights can be placed on the leveling feet. For height adjustment, a laser or similar device can be used. If a foot is too low, the corresponding wedge can be moved to adjust it, or different wedges can be used to adjust the foot.

[0041] The wedge-shaped member may include a plurality of locking teeth arranged to engage corresponding locking teeth disposed on or attached to the base member. The wedge may have a generally U-shaped geometry, wherein the legs of the wedge encircle the base member and the support member. The support member may include corresponding geometric features for engaging the locking teeth of the wedge. After aligning the support member relative to the base member, the wedge may be attached to other parts of the leveling legs to secure the orientation of these members relative to each other.

[0042] The support member may have a lower inclined surface configured to rest on the inclined surface of the wedge member. Multiple different support members may be provided, with their inclined surfaces arranged at different vertical distances from the support surface, allowing different support members to be used interchangeably with the same base member and wedge member to arrange the support surface at various maximum heights.

[0043] Preferably, the leveling feet do not have springs that allow the support members to move relative to the base members.

[0044] The leveling feet can have a base plate that substantially corresponds to the area occupied by the base support surface. The support surface is configured to support the support plate (60).

[0045] According to a second aspect, a leveling system is provided for leveling a frame structure of an automated storage and retrieval system, the leveling system comprising leveling legs as described above and wedge-shaped members that can be inserted between a base member and a support member.

[0046] The leveling system may include multiple wedge-shaped components with varying thicknesses in the vertical direction, and / or the inclined surfaces of these wedge-shaped components with varying slopes.

[0047] The leveling system may include one or more support plates adapted to be arranged at the bottom of the storage column for supporting the stacking of containers, with the corners of the support plates supported on the support members of four leveling feet.

[0048] The leveling system may include multiple wedge-shaped members having various thicknesses in the vertical direction and / or various angles on the inclined surfaces of these wedge-shaped members. Multiple wedge-shaped members of different sizes as described above may be used with multiple different support members as described above to provide a system or kit that allows the support surface to be at various different heights and / or height ranges above the ground, depending on the combination of wedge-shaped members and / or support members selected.

[0049] According to a third aspect, an automatic storage and retrieval system is provided, comprising a frame structure and a plurality of leveling feet as described above, the plurality of leveling feet being used to support the upright members of the frame structure.

[0050] The automatic storage and retrieval system may also include multiple support plates supported on support members of the leveling feet.

[0051] According to a fourth aspect, a method is provided for leveling a frame structure of an automated storage and retrieval system on an uneven surface, the method comprising: providing a plurality of leveling feet; providing a plurality of wedge-shaped members as described above; arranging a plurality of mutually perpendicular ground tracks on the floor of the facility to define a grid pattern defining units of the same size as storage columns; arranging a leveling foot at each intersection of the plurality of ground tracks; setting a desired horizontal height for the support members of the leveling feet using a leveling tool; selecting a suitable wedge-shaped member for each leveling foot and inserting the wedge-shaped member between a base member and a support member such that all support members are arranged at the set horizontal height; and installing the frame structure using upright members supported by the support members, thereby defining a plurality of storage columns.

[0052] Each of the plurality of leveling feet may be a leveling foot according to the first aspect, or a leveling foot with any optional features. Each of the plurality of wedge members may be a wedge member described in conjunction with the second aspect, or a wedge member with any optional features.

[0053] A suitable wedge member is one whose thickness in the vertical direction and / or the slope of its inclined surface are such that when the wedge member is inserted between the base member and the support member, the support member is positioned at the desired horizontal height.

[0054] The leveling tool can be a laser leveling device.

[0055] The method may include arranging a support plate at the bottom of each storage column, the support plate being adapted to support the stack of storage containers at an elevated position above the ground of the facility.

[0056] The corners of the support plate can be supported on the support members of the four leveling feet that define the storage column.

[0057] As an alternative or supplement to using ground tracks, spacer frames can be used to correctly arrange the uprights of each storage column relative to each other. Thus, four leveling legs can be arranged in a rectangular pattern on a surface, such as arranging four leveling legs in a rectangular pattern on the ground of a facility for frame installation. The uprights are arranged on the support members of the leveling legs, and the spacer frames are connected to the four leveling legs by arranging the corners of the rectangular spacer frames to the corners of the support members, wherein the spacer frames may include corner areas that engage with the support members and / or with the uprights arranged on the support members. The four uprights are thus correctly spaced relative to each other. From this starting point, additional leveling legs and uprights can be constructed using the rectangular spacer frames in the same manner, thus forming a frame grid structure.

[0058] It should be understood that the assembly order of the various components can be changed and is still within the scope of this invention. For example, multiple leveling legs can be arranged in a grid pattern using rectangular spacer frames first, and then the upright members can be placed on top of the leveling device that has already been arranged in this way. Attached Figure Description

[0059] The following figures are attached to facilitate understanding of the invention. The figures illustrate embodiments of the invention, which will now be described by way of example only. In the figures: Figure 1 This is a three-dimensional diagram of the framework structure of an existing automated storage and retrieval system.

[0060] Figure 2 This is a perspective view of a prior art container handling vehicle having an internal cavity for carrying storage containers therein.

[0061] Figure 3 This is a perspective view of a prior art container handling vehicle having a cantilever for supporting storage containers below.

[0062] Figure 4 This is a perspective view of a prior art container handling vehicle, seen from below, having an internal cavity for carrying storage containers therein.

[0063] Figure 5 It is a detailed perspective view of the existing upright components and the existing leveling supports.

[0064] Figure 6 The prior art leveling feet are shown in a 3D diagram.

[0065] Figure 7 The leveling feet according to the present invention are shown in a perspective view.

[0066] Figure 8 The leveling support leg according to the present invention is shown in an exploded view.

[0067] Figure 9 The upright component is shown in a three-dimensional view on the leveling support.

[0068] Figure 10 A storage column with stacked storage containers is shown in a 3D view. Detailed Implementation

[0069] In the following discussion, embodiments of the invention will be described in more detail with reference to the accompanying drawings. However, it should be understood that the drawings are not intended to limit the invention to the subject matter depicted therein.

[0070] The framework structure 100 of the automatic storage and retrieval system 1 is based on the above. Figures 1 to 5 The existing frame structure 100 is constructed in a similar manner. That is, the frame structure 100 includes a plurality of upright members 102 and includes a first upper track system 108 extending in the X and Y directions.

[0071] The frame structure 100 also includes storage compartments in the form of storage columns 105 disposed between the members 102, wherein storage containers 106 can be stacked in the storage columns 105 in the form of stacks 107.

[0072] The frame structure 100 can have any size. Specifically, it should be understood that the frame structure can be larger than... Figure 1 The frame structure disclosed herein is wider and / or longer and / or deeper. For example, frame structure 100 may have a horizontal range of more than 700 × 700 columns and a storage depth of more than twelve containers.

[0073] Now refer to Figures 6 to 10 The embodiments of the present invention will be discussed in more detail.

[0074] Figure 6 A leveling foot 10 according to the prior art is shown. The leveling foot includes a base member 11 adapted for support on a surface, such as a ground surface for mounting a frame structure 100 in an installation. The leveling foot 10 includes a support member 12 for supporting upright members 102 of the frame structure 100. The surface area of ​​the support member 12 can substantially correspond to the surface area of ​​the base member 11. However, both members 11 and 12 have rectangular occupies an area with short and long sides, and members 11 and 12 are stacked on top of each other with opposite orientations. The occupies an area smaller than that of the upright member 102, whose profile cross-section can cover a square area. The lower end of the upright member can be supported on the support member 12, while only a portion of the end of the upright member 102 is within the outer perimeter 13 of the support member 12.

[0075] The support member 12 is vertically movable relative to the base portion 12. A wedge-shaped member 14 is shown arranged between the base member 11 and the support member 12. Due to the inclined upper surface 15 of the wedge-shaped member 14, the corresponding lower surface 16 of the support member 12 can be arranged at a position where the distance from the base member 11 is variable.

[0076] Figure 7A leveling support 20 according to an embodiment of the present invention is shown in perspective. The leveling support 20 includes a base member 22 having a base plate 23 having a generally square area. Four protrusions 26 are distributed on the underside 24 of the base plate 23 near the corners 25 of the base plate 22. The base member 22 can thus be supported on the ground by the protrusions 26. However, the base member 22 can also be arranged on a ground track or the like.

[0077] The column 28 extends vertically from the substrate 23. Preferably, the column is fixedly attached to the upper surface 30 of the substrate 23, for example, by welding. In this exemplary embodiment, the length of the column 28 exceeds the horizontal dimension of the substrate 23. Other variations are also possible, in which the column 28 has a greater or lesser height.

[0078] The leveling support 20 includes a support member 32 capable of vertical movement along the column 28. This support member includes a flat platform member 34 extending radially / horizontally, having a support surface 36 on its upper side. The platform member 34 occupies a generally square area and approximately corresponds to the area occupied by the substrate 23. The platform member 34 is supported by a plurality of flanges 38 extending horizontally from a central portion 40 to the platform member 34. The flanges 38 are exemplary triangular in shape and extend from the vertical edge of the central portion 40 to the corner 50 of the platform member 34.

[0079] A vertical guide 42 is provided on the support surface 36, extending upward and substantially parallel to the column 28. The platform component 34 has a cutout through which the column 28 extends. This cutout (not shown in detail herein) is surrounded by the vertical guide 42.

[0080] The leveling support 20 includes a wedge-shaped member 44 disposed between the base member 22 and the support member 32. Exemplarily, the wedge-shaped member includes an inclined upper surface 46 that contacts the lower inclined surface 48 of the support member 32. By providing a larger platform member 34, the support of the upright member is improved. Furthermore, the corners 50 of the platform member 34 can be used to support support plates that... Figure 9 and Figure 10 As shown in the image.

[0081] Figure 8 The leveling support 20 is shown in an exploded view. All three components 22, 32 and 44 are shown individually, i.e., the leveling support 20 is in the disassembled state.

[0082] The connection between the column 28 and the substrate 23 is shown here. A series of vertical locking teeth 52 extending along the sidewall 54 of the column 28 are provided on its bottom side. An elongated guide element 56 is attached to the substrate 23 at a distance from and parallel to these vertical locking teeth. The column 28... Figure 8 On the other side, which is hidden, the pillar 28 and the substrate 23 may include locking teeth 52 and guide elements 56 arranged in the same manner.

[0083] The wedge member 44 is generally U-shaped and includes two legs 45 configured to encircle the column 28. A series of vertical teeth 49 are arranged on the transverse inner surface 47 of the legs 45, which are designed to engage with vertical locking teeth 52. By arranging the wedge member 44 on the underside of the column 28, the teeth 49 engage the locking teeth 52, thereby locking the horizontal position of the wedge member relative to the column 28. The legs 45 cannot bend outward because they are clamped between the guide element 56 and the corresponding sidewall 54 of the column 28. To position the wedge member 44 in the desired horizontal position relative to the column 28, the wedge member can first be advanced while the two legs 45 are encircling the column 28 above the locking teeth 52 and at a distance from the base plate 23, and then moved downward onto the base plate 23.

[0084] Subsequently, teeth 49 and locking teeth 52 engage with each other and wedge member 44 can no longer move horizontally. When upright member 102 is placed on upper inclined surface 48, wedge member 44 is pressed against substrate 23 and therefore cannot move in the vertical direction, while support member 34 is held at a distance from substrate 23, which is defined by the horizontal position of wedge member 44.

[0085] The central portion 40 of the support member 32 exemplarily includes a vertical and hollow columnar extension 58 that guides the support member 32 to move vertically on the column 28. The columnar extension 58 is open at each end to allow the support member 32 to pass through. The column 28 can thus slide within the columnar extension 58. This improves the alignment of the support member 32 with the column 28.

[0086] Figure 9A series of upright members 102 arranged on leveling feet 20 are shown. This series of upright members forms a plurality of storage columns 105, wherein support plates 60 are arranged on the corners 50 of the four leveling feet 20 defining the respective storage columns 105. The support plates 60 provide a bottom surface for each column 105 for receiving the bottom storage container 106 in a stack of storage containers 106. The support plates 60 may be made of a metallic material, such as aluminum, or a plastic material, such as fiber-reinforced plastic, or wood, for example in the form of plywood. In this exemplary embodiment, all leveling feet 20 are arranged on ground tracks 62.

[0087] Figure 10 A plurality of storage containers 106 are stacked in a series 105, wherein the storage containers 106 are stacked on corresponding support plates 60. To adjust the vertical position of the upright member 102, a kit having a plurality of base members 22, support members 34, and wedge members 44 can be provided. The base members 22 may include a variety of base members 22 with different heights. The wedge members 44 may include a variety of wedge members 44 with different heights or inclinations. This allows for leveling even when there are significant height deviations in the ground.

[0088] Assembling the leveling feet 20 may include arranging the base member 22 at the desired location on the ground for the upright member 102. Support members 34 and wedge members 44 can then be arranged on the base member 22 to position the platform member 34 at a reference height. This reference height can be provided by a laser device, such as a rotating laser positioned on the ground in a warehouse and projecting a laser plane at an adjustable height. Preferably, the laser device is a self-leveling rotating laser that ensures a level laser plane is formed in the warehouse, allowing suitable wedge members 44 to be selected and properly arranged, thereby enabling adjustment of the height of all support elements 34. If there are relatively large local height deviations on the ground at certain locations, the base member 22 at these locations can be replaced with a base member that is larger or smaller than the column 28. After all the leveling feet 20 have been arranged and adjusted, the upright member 102 can be arranged in the leveling feet 20 to construct the frame structure 100. If necessary, support plates 60 can then be arranged.

[0089] It should be understood that the above description is intended to be illustrative and not restrictive. Many other embodiments will be apparent to those skilled in the art upon reading and understanding the above description. Although this disclosure has been described with reference to specific exemplary implementations, it should be recognized that this disclosure is not limited to the described implementations but can be practiced with modifications and variations falling within the spirit and scope of the appended claims. Therefore, the specification and drawings should be regarded as illustrative and not restrictive. Consequently, the scope of this disclosure should be determined by reference to the appended claims and the full scope of their equivalents.

[0090] List of reference numerals

[0091] Existing technology ( Figures 1 to 4 ): 1. Existing automated storage and retrieval systems 100 Frame Structure 102. Upright members of a frame structure 104 Storage Grid 105 Storage Columns 106 Storage Containers 106' Specific location of the storage container 107 Stacking 108 orbital system 110 Parallel orbits in the first direction (X) 111 Parallel track in the second direction (Y) 112 Access Opening 119 First Port Column 120 Second Port Column 201 Container handling vehicles of the prior art 201a Container handling vehicle 201 vehicle body 201b Drive unit / wheel unit / first set of wheels in the first direction (X) 201c Drive unit / wheel unit / second set of wheels in the second direction (Y) 301 Prior art cantilever container handling vehicles 301a Container handling vehicle 301 vehicle body 301b Drive unit / first set of wheels in the first direction (X) 301c Drive unit / second set of wheels in the second direction (Y) 304 clamping device 401 Container handling vehicles of the prior art 401a Container handling vehicle 401 vehicle body 401b Drive unit / first set of wheels in the first direction (X) 401c Drive unit / second set of wheels in the second direction (Y) 404 clamping device 404a lifting belt 404b clamp 404C pilot pin 404d lifting frame 500 Control System Figures 6 to 10 10. Leveling feet (existing technology) 11. Base components (prior art) 12 Supporting components (prior art) 13. External perimeter (existing technology) 14. Wedge-shaped member (prior art) 15. Inclined upper surface (prior art) 16. Lower surface (prior art) 20. Leveling feet (existing technology) 22 Base components 23 substrate 24. Lower side 25 corner 26. Protrusion 28 prisms 30 Upper surface 32 Supporting components 34 Platform Components 36 Supporting surfaces 38 Flange 40. Central Section 42 Vertical guide 44 Wedge-shaped component 45 Legs 46. ​​Inclined upper surface 47. Transverse inner surface 48. Inclined surface 49 teeth 50 corner 52 locking teeth 54 Sidewalls 56 Guiding elements 58. Columnar extension 60 support plate 62 Ground Track X First Direction Y Second Direction

Claims

1. A leveling support (20) for leveling the frame structure (100) of an automated storage and retrieval system, the leveling support comprising: a. Base components (22); b. A column (28) extending vertically from the base member (22); c. A support member (32) capable of vertical movement along the column (28), the support member (32) having a support surface (36) arranged to support the upright members (102) of the frame structure; and d. The base member (22) is arranged to receive a wedge member (44) that can be inserted between the base member (22) and the support member (32) to set the vertical distance between the support surface (36) and the ground of a facility for mounting the frame structure (100).

2. The leveling support (20) according to claim 1, wherein, The supporting member (32) is a platform, the surface area of ​​which is equal to or greater than the area occupied by the upright member (102) of the frame structure.

3. The leveling support (20) according to any one of the preceding claims, wherein, The height of the column (28) is arranged such that when the wedge member (44) is in place, the column extends beyond the columnar extension (58) extending from the support member (32).

4. The leveling support (20) according to any one of the preceding claims, wherein, The wedge-shaped member (44) includes a plurality of locking teeth (49) arranged to engage with corresponding locking teeth (52) arranged on or connected to the base member (22).

5. The leveling support (20) according to any one of the preceding claims, wherein, The support member (32) has a lower inclined surface (48) configured to be supported on the inclined surface (46) of the wedge member (44).

6. The leveling support (20) according to any one of the preceding claims, wherein, The leveling foot (20) has a base plate (22) that substantially corresponds to the area occupied by the base support surface (36).

7. The leveling support (20) according to any one of the preceding claims, wherein, The support surface is configured to support the support plate (60).

8. A leveling system for leveling the frame structure (100) of an automated storage and retrieval system, comprising: a. The leveling leg (20) according to any of the preceding claims; as well as b. A wedge-shaped member (44) that can be inserted between the base member (22) and the support member (32).

9. The leveling system according to claim 8, further comprising: a. A support plate (60) adapted to be arranged at the bottom of the storage column (102) for supporting the stacking of containers (106), the corners of the support plate (60) being supported on the support member (32) of the leveling leg (20).

10. The leveling system according to claim 8 or 9, comprising a plurality of said wedge members (44) having a variety of different thicknesses in the vertical direction, and / or the inclined surfaces (47) of these wedge members having a variety of different slopes.

11. An automatic storage and retrieval system comprising a frame structure and a plurality of leveling feet (20) according to any one of claims 1 to 7, the plurality of leveling feet being used to support upright members (102) of the frame structure.

12. The automatic storage and retrieval system according to claim 11 further includes a plurality of support plates (60) supported on the support member (32) of the leveling leg (20).

13. A method for leveling a frame structure of an automated storage and retrieval system on an uneven surface, comprising: a. Provides multiple leveling feet (20); b. Provide multiple wedge-shaped components (44); c. Arrange multiple mutually perpendicular ground tracks (62) on the ground of a facility to define a grid pattern, the grid pattern defining cells of the same size as the storage column (102); d. A leveling support (20) is provided at each intersection of the plurality of ground tracks (62); e. Use a leveling tool to set the required horizontal height for the support member (32) of the leveling foot (20); f. Select a suitable wedge-shaped member (44) for each of the leveling feet (20) and insert the wedge-shaped member (44) between the base member (22) and the support member (32) so that all the support members (32) are arranged at the set horizontal height; and g. The frame structure (100) is mounted using an upright member supported by the support member (32), thereby defining a plurality of storage columns.

14. The method according to claim 9, wherein, The leveling tool is a laser leveling device.

15. The method according to any one of claims 13 to 14, further comprising: A support plate (60) is arranged at the bottom of each of the storage columns (102), the support plate (60) being adapted to support the stack of storage containers (106) at an elevated position above the ground of the facility.

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